JP7119556B2 - 多関節ロボットの干渉判定装置、多関節ロボットの干渉判定方法、多関節ロボットの干渉判定プログラム、及び経路計画生成装置 - Google Patents

多関節ロボットの干渉判定装置、多関節ロボットの干渉判定方法、多関節ロボットの干渉判定プログラム、及び経路計画生成装置 Download PDF

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JP7119556B2
JP7119556B2 JP2018093928A JP2018093928A JP7119556B2 JP 7119556 B2 JP7119556 B2 JP 7119556B2 JP 2018093928 A JP2018093928 A JP 2018093928A JP 2018093928 A JP2018093928 A JP 2018093928A JP 7119556 B2 JP7119556 B2 JP 7119556B2
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Prior art keywords
interference
area
articulated robot
obstacle
self
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Japanese (ja)
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JP2019198914A (ja
Inventor
春香 藤井
俊洋 森谷
岳史 小島
徳和 殿谷
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Omron Corp
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Omron Corp
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Priority to JP2018093928A priority Critical patent/JP7119556B2/ja
Priority to CN201910279358.5A priority patent/CN110480624B/zh
Priority to EP19168776.3A priority patent/EP3572192B1/en
Priority to US16/387,594 priority patent/US11097420B2/en
Publication of JP2019198914A publication Critical patent/JP2019198914A/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39096—Self-collision, internal collison, collision between links of one robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2018093928A 2018-05-15 2018-05-15 多関節ロボットの干渉判定装置、多関節ロボットの干渉判定方法、多関節ロボットの干渉判定プログラム、及び経路計画生成装置 Active JP7119556B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018093928A JP7119556B2 (ja) 2018-05-15 2018-05-15 多関節ロボットの干渉判定装置、多関節ロボットの干渉判定方法、多関節ロボットの干渉判定プログラム、及び経路計画生成装置
CN201910279358.5A CN110480624B (zh) 2018-05-15 2019-04-09 多关节机器人的干扰判定装置、干扰判定方法、记录介质
EP19168776.3A EP3572192B1 (en) 2018-05-15 2019-04-11 Interference determination apparatus for articulated robot, interference determination method for articulated robot, interference determination program for articulated robot, and path planning apparatus
US16/387,594 US11097420B2 (en) 2018-05-15 2019-04-18 Interference determination apparatus for articulated robot, interference determination method for articulated robot, interference determination program for articulated robot, and path planning apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018093928A JP7119556B2 (ja) 2018-05-15 2018-05-15 多関節ロボットの干渉判定装置、多関節ロボットの干渉判定方法、多関節ロボットの干渉判定プログラム、及び経路計画生成装置

Publications (2)

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JP2019198914A JP2019198914A (ja) 2019-11-21
JP7119556B2 true JP7119556B2 (ja) 2022-08-17

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US (1) US11097420B2 (zh)
EP (1) EP3572192B1 (zh)
JP (1) JP7119556B2 (zh)
CN (1) CN110480624B (zh)

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* Cited by examiner, † Cited by third party
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CN115605328A (zh) * 2020-02-19 2023-01-13 发那科株式会社（Jp） 一种用于工业机器人的碰撞避免运动规划方法
JP7484254B2 (ja) * 2020-03-13 2024-05-16 オムロン株式会社 干渉判定装置、方法、及びプログラム
JP2022100030A (ja) * 2020-12-23 2022-07-05 京セラ株式会社 干渉判定装置、ロボット制御システム、及び干渉判定方法
CN113119109A (zh) * 2021-03-16 2021-07-16 上海交通大学 基于伪距离函数的工业机器人路径规划方法和系统
DE102022102347A1 (de) 2022-02-01 2023-08-03 Neura Robotics GmbH Armabschnitt für einen Roboterarm sowie Roboterarm

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JPS62120995A (ja) * 1985-11-18 1987-06-02 豊田工機株式会社 ロボツトにおける干渉防止方法
US4828453A (en) * 1987-04-21 1989-05-09 The United States Of America As Represented By The United States Department Of Energy Modular multimorphic kinematic arm structure and pitch and yaw joint for same
JP2763613B2 (ja) * 1989-09-11 1998-06-11 トキコ株式会社 産業用ロボットの干渉チェック方法
JPH03131494A (ja) * 1989-10-09 1991-06-05 Daikin Ind Ltd 産業用ロボット制御方法およびその装置
JPH04280304A (ja) * 1991-03-08 1992-10-06 Nippon Telegr & Teleph Corp <Ntt> マニュピレータ経路探索方式
JP3355902B2 (ja) * 1995-11-08 2002-12-09 株式会社デンソー 多関節ロボットの可動範囲制限装置
JP3512049B2 (ja) * 1996-03-15 2004-03-29 株式会社安川電機 産業用ロボットのツール干渉チェック方法
EP1862876B1 (en) * 2005-05-13 2010-03-17 Toyota Jidosha Kabushiki Kaisha Path planning device
JP2008030136A (ja) 2006-07-27 2008-02-14 Sony Corp ロボットの動作編集装置及び動作編集方法、並びにコンピュータ・プログラム
DE102007059480B4 (de) * 2007-12-11 2018-07-05 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Posenüberwachung eines Manipulators
DE102008013400B4 (de) * 2008-03-06 2016-03-10 Voith Engineering Services Gmbh Verfahren zur Ermittlung von Verriegelungsbereichen wenigstens eines im Raum bewegbaren ersten Objekts
JP5275967B2 (ja) 2009-12-22 2013-08-28 本田技研工業株式会社 干渉チェック装置
WO2012140770A1 (ja) * 2011-04-14 2012-10-18 三菱電機株式会社 ロボット制御装置
JP5751945B2 (ja) * 2011-06-15 2015-07-22 富士機械製造株式会社 マルチロボットシステムおよび電子部品実装機
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Publication number Publication date
CN110480624B (zh) 2022-05-31
JP2019198914A (ja) 2019-11-21
CN110480624A (zh) 2019-11-22
US11097420B2 (en) 2021-08-24
EP3572192B1 (en) 2021-11-10
US20190351550A1 (en) 2019-11-21
EP3572192A1 (en) 2019-11-27

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